JP6437629B2 - 経路探索装置、制御方法、プログラム及び記憶媒体 - Google Patents

経路探索装置、制御方法、プログラム及び記憶媒体 Download PDF

Info

Publication number
JP6437629B2
JP6437629B2 JP2017503251A JP2017503251A JP6437629B2 JP 6437629 B2 JP6437629 B2 JP 6437629B2 JP 2017503251 A JP2017503251 A JP 2017503251A JP 2017503251 A JP2017503251 A JP 2017503251A JP 6437629 B2 JP6437629 B2 JP 6437629B2
Authority
JP
Japan
Prior art keywords
unit
route
information
automatic driving
route search
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2017503251A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2016139748A1 (ja
Inventor
岩井　智昭
智昭 岩井
俵木　祐二
祐二 俵木
智之 藤枝
智之 藤枝
哲也 河原
哲也 河原
陽子 藤田
陽子 藤田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Increment P Corp
Original Assignee
Pioneer Corp
Increment P Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp, Increment P Corp filed Critical Pioneer Corp
Publication of JPWO2016139748A1 publication Critical patent/JPWO2016139748A1/ja
Application granted granted Critical
Publication of JP6437629B2 publication Critical patent/JP6437629B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0057—Estimation of the time available or required for the handover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0061—Aborting handover process
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Aviation & Aerospace Engineering (AREA)
JP2017503251A 2015-03-03 2015-03-03 経路探索装置、制御方法、プログラム及び記憶媒体 Active JP6437629B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/056198 WO2016139748A1 (fr) 2015-03-03 2015-03-03 Dispositif de recherche d'itinéraire, procédé de commande, programme et support d'informations

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018213609A Division JP2019039930A (ja) 2018-11-14 2018-11-14 経路探索装置、制御方法、プログラム及び記憶媒体

Publications (2)

Publication Number Publication Date
JPWO2016139748A1 JPWO2016139748A1 (ja) 2017-12-28
JP6437629B2 true JP6437629B2 (ja) 2018-12-12

Family

ID=56848779

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017503251A Active JP6437629B2 (ja) 2015-03-03 2015-03-03 経路探索装置、制御方法、プログラム及び記憶媒体

Country Status (5)

Country Link
US (2) US20180038701A1 (fr)
EP (1) EP3267421A4 (fr)
JP (1) JP6437629B2 (fr)
CN (1) CN107430817B (fr)
WO (1) WO2016139748A1 (fr)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016139748A1 (fr) 2015-03-03 2016-09-09 パイオニア株式会社 Dispositif de recherche d'itinéraire, procédé de commande, programme et support d'informations
JP6428493B2 (ja) * 2015-06-05 2018-11-28 株式会社デンソー 自動走行制御装置、自動走行用車載装置、自動走行制御方法
WO2018051586A1 (fr) * 2016-09-13 2018-03-22 本田技研工業株式会社 Appareil de gestion de données de sonde
US10049328B2 (en) * 2016-10-13 2018-08-14 Baidu Usa Llc Group driving style learning framework for autonomous vehicles
US10042362B2 (en) * 2016-11-18 2018-08-07 Waymo Llc Dynamic routing for autonomous vehicles
JP6561357B2 (ja) * 2016-12-02 2019-08-21 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
CN110234959B (zh) * 2016-12-06 2021-05-11 日产北美公司 用于自主车辆的预先威胁警示
US11086326B2 (en) 2017-01-16 2021-08-10 Hitachi, Ltd. Moving object controller and moving object control method
WO2018143236A1 (fr) * 2017-01-31 2018-08-09 パイオニア株式会社 Dispositif de traitement d'informations, dispositif de serveur, système de traitement d'informations, procédé de traitement d'informations et programme
WO2018143238A1 (fr) 2017-01-31 2018-08-09 パイオニア株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations et programme
JP6925130B2 (ja) * 2017-02-02 2021-08-25 株式会社デンソーテン 車両制御装置及び車両制御方法
JP6575543B2 (ja) * 2017-02-07 2019-09-18 トヨタ自動車株式会社 自動運転装置、及び自動運転方法
JP2018149934A (ja) * 2017-03-14 2018-09-27 オムロン株式会社 運転支援装置、プログラムおよび運転支援方法
WO2018180081A1 (fr) * 2017-03-29 2018-10-04 パイオニア株式会社 Dispositif d'identification d'un élément au sol détérioré, système d'identification d'un élément au sol détérioré, procédé d'identification d'un élément au sol détérioré, programme d'identification d'un élément au sol détérioré et support d'enregistrement lisible par ordinateur contenant un programme d'identification d'un élément au sol détérioré
US11402836B2 (en) 2017-03-29 2022-08-02 Pioneer Corporation Server device, terminal device, communication system, information reception method, information transmission method, information reception program, information transmission program, recording medium, and data structure
JP6704876B2 (ja) * 2017-06-02 2020-06-03 本田技研工業株式会社 自動走行制御システム
WO2018230174A1 (fr) * 2017-06-15 2018-12-20 日立オートモティブシステムズ株式会社 Système de commande de véhicule
JP6922582B2 (ja) 2017-09-15 2021-08-18 トヨタ自動車株式会社 走行制御装置、走行制御システム、及び走行制御方法
DE102017216603A1 (de) * 2017-09-19 2019-03-21 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben von wenigstens zwei automatisierten Fahrzeugen
JP6559204B2 (ja) * 2017-10-19 2019-08-14 本田技研工業株式会社 車両制御装置
US11151883B2 (en) 2017-11-03 2021-10-19 International Business Machines Corporation Empathic autonomous vehicle
US20190163176A1 (en) * 2017-11-30 2019-05-30 drive.ai Inc. Method for transferring control of an autonomous vehicle to a remote operator
JPWO2019107353A1 (ja) * 2017-11-30 2020-12-17 パイオニア株式会社 地図データのデータ構造
US10890909B2 (en) * 2018-01-09 2021-01-12 International Business Machines Corporation Automobile driving mode determination
US10884418B2 (en) * 2018-04-25 2021-01-05 Aptiv Technologies Limited Vehicle route planning based on instances of other vehicles stopping automated operation
JP6914229B2 (ja) * 2018-07-09 2021-08-04 株式会社日立製作所 自動運転支援装置及びその方法
JP7116642B2 (ja) * 2018-09-11 2022-08-10 フォルシアクラリオン・エレクトロニクス株式会社 経路誘導装置および経路誘導方法
JP7070263B2 (ja) * 2018-09-12 2022-05-18 トヨタ自動車株式会社 運転支援装置、車両用運転支援システム、運転支援方法及び運転支援プログラム
JP7059888B2 (ja) 2018-10-12 2022-04-26 トヨタ自動車株式会社 支援制御システム
CN111103874A (zh) * 2018-10-26 2020-05-05 百度在线网络技术（北京）有限公司 用于控制车辆的自动驾驶的方法、装置、设备和介质
EP3647728B1 (fr) 2018-11-05 2023-06-21 Toyota Jidosha Kabushiki Kaisha Système d'informations cartographiques
JP7139896B2 (ja) * 2018-11-07 2022-09-21 トヨタ自動車株式会社 経路情報決定装置、経路情報システム、端末及び経路情報を決定する方法
US10940851B2 (en) * 2018-12-12 2021-03-09 Waymo Llc Determining wheel slippage on self driving vehicle
JP2020107007A (ja) * 2018-12-27 2020-07-09 ダイハツ工業株式会社 自動運転車のスケジューリング装置
US20200239024A1 (en) * 2019-01-25 2020-07-30 Uatc, Llc Autonomous vehicle routing with roadway element impact
JP7172760B2 (ja) * 2019-03-13 2022-11-16 トヨタ自動車株式会社 情報処理装置および情報処理方法
BR112021019215A2 (pt) * 2019-03-27 2021-11-30 Nissan Motor Sistema de controle de itinerário de veículo, dispositivo para controle de itinerário de veículo e método para controle de itinerário de veículo
DE112019007128T5 (de) * 2019-03-29 2022-01-27 Honda Motor Co., Ltd. Steuervorrichtung, Steuerverfahren und Programm
CN109885069A (zh) * 2019-03-31 2019-06-14 联想(北京)有限公司 一种数据处理方法及电子设备
JP7124784B2 (ja) * 2019-04-04 2022-08-24 トヨタ自動車株式会社 車両制御装置
DE102019206145B3 (de) * 2019-04-30 2020-10-15 Conti Temic Microelectronic Gmbh Fahrerassistenzsystem für ein autonomes Fahrzeug
JP2021009611A (ja) * 2019-07-02 2021-01-28 本田技研工業株式会社 情報提供装置、情報提供方法、およびプログラム
CN110491155A (zh) * 2019-07-30 2019-11-22 深圳市前海胡桃科技有限公司 一种自动驾驶装置的调度方法、装置及自动驾驶装置
DE102019216956A1 (de) * 2019-11-04 2021-05-06 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bestimmen von Notfalltrajektorien und zum Betreiben von automatisierten Fahrzeugen
JP7268590B2 (ja) * 2019-12-18 2023-05-08 トヨタ自動車株式会社 情報処理装置、情報処理システム、プログラム及び情報処理方法
JP7474081B2 (ja) * 2020-03-16 2024-04-24 本田技研工業株式会社 制御装置、システム、及びプログラム
JP7428555B2 (ja) 2020-03-16 2024-02-06 本田技研工業株式会社 制御装置、システム、プログラム、及び制御方法
JP7421382B2 (ja) * 2020-03-16 2024-01-24 本田技研工業株式会社 制御装置、システム、プログラム、及び制御方法
CN113494921B (zh) * 2020-04-01 2023-09-22 华为技术有限公司 自动驾驶方法及装置
JP7415994B2 (ja) 2021-03-22 2024-01-17 株式会社デンソー 車両制御装置、車両制御方法
BE1029667B1 (nl) 2021-12-02 2023-03-02 Ivex Methoden, systemen, opslagmedia en apparatuur voor het analyseren van de band-wegfrictieschatting van trajectkandidaten op plannerniveau voor een veiliger trajectkeuze in geautomatiseerde voertuigen

Family Cites Families (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001067594A (ja) * 1999-08-31 2001-03-16 Hitachi Ltd 放送方法、及び、装置、ならびに、交通情報編集装置、及び、交通情報提示システム
JP2002236993A (ja) * 2001-02-09 2002-08-23 Kddi Research & Development Laboratories Inc 走行制御システム
JP4452474B2 (ja) * 2003-09-30 2010-04-21 パイオニア株式会社 案内誘導システム、その方法、そのプログラム、および、そのプログラムを記録した記録媒体
JP4377246B2 (ja) * 2004-01-05 2009-12-02 パイオニア株式会社 情報処理装置、そのシステム、その方法、そのプログラム、および、そのプログラムを記録した記録媒体
JP4495160B2 (ja) * 2004-06-25 2010-06-30 パイオニア株式会社 案内報知装置
US7729857B2 (en) * 2005-08-18 2010-06-01 Gm Global Technology Operations, Inc. System for and method of detecting a collision and predicting a vehicle path
US8917904B2 (en) * 2008-04-24 2014-12-23 GM Global Technology Operations LLC Vehicle clear path detection
JP2011118603A (ja) * 2009-12-02 2011-06-16 Clarion Co Ltd 車両制御装置
WO2011081159A1 (fr) * 2009-12-28 2011-07-07 クラリオン株式会社 Dispositif de navigation, procédé de guidage pour l'établissement d'un itinéraire, et programme
JP5382218B2 (ja) * 2010-06-16 2014-01-08 トヨタ自動車株式会社 運転支援装置
WO2012035667A1 (fr) * 2010-09-17 2012-03-22 パイオニア株式会社 Dispositif d'estimation de distance parcourue, procédé d'estimation de distance parcourue, programme d'estimation de distance parcourue et support d'enregistrement
US20140052370A1 (en) * 2011-05-27 2014-02-20 Mitsubishi Electric Corporation Mobile-body navigation device and mobile-body navigation system
JP2013036856A (ja) * 2011-08-08 2013-02-21 Daihatsu Motor Co Ltd 運転支援装置
JP5786941B2 (ja) 2011-08-25 2015-09-30 日産自動車株式会社 車両用自律走行制御システム
DE102011086241B4 (de) * 2011-11-14 2018-04-05 Robert Bosch Gmbh Verfahren zum sicheren Abstellen eines Fahrzeuges
WO2013132593A1 (fr) * 2012-03-06 2013-09-12 トヨタ自動車 株式会社 Dispositif et procédé de traitement d'informations de déplacement et système d'aide à la conduite
JP5926645B2 (ja) * 2012-08-03 2016-05-25 クラリオン株式会社 カメラパラメータ演算装置、ナビゲーションシステムおよびカメラパラメータ演算方法
DE102012016802A1 (de) 2012-08-23 2014-02-27 Audi Ag Verfahren zur Steuerung eines autonomen Fahrzeugsystems und Kraftfahrzeug
JP2014106854A (ja) * 2012-11-29 2014-06-09 Toyota Infotechnology Center Co Ltd 自動運転車両制御装置および方法
CN105229422B (zh) 2013-03-15 2018-04-27 大众汽车有限公司 自动驾驶路线规划应用
FR3005924B1 (fr) * 2013-05-27 2016-10-21 Renault Sa Procede de fonctionnement d'un vehicule en mode manuel et en mode autonome
DE102013210395B4 (de) * 2013-06-05 2021-06-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Datenkommunikation zwischen Kraftfahrzeugen einerseits und einem zentralen Informationspool andererseits
US9835463B2 (en) * 2013-06-28 2017-12-05 Pioneer Corporation Route searching device, terminal device, and route searching method
DE102013213171A1 (de) * 2013-07-04 2015-01-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs in einem automatisierten Fahrbetrieb
CN103794086B (zh) * 2014-01-26 2016-03-02 浙江吉利控股集团有限公司 一种车辆行驶预警方法
JP6369028B2 (ja) * 2014-01-27 2018-08-08 アイシン・エィ・ダブリュ株式会社 経路探索システム、経路探索方法及びコンピュータプログラム
JP6287264B2 (ja) * 2014-01-27 2018-03-07 アイシン・エィ・ダブリュ株式会社 経路案内システム、経路案内方法及びコンピュータプログラム
JP6273864B2 (ja) * 2014-01-27 2018-02-07 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
JP6467773B2 (ja) * 2014-02-25 2019-02-13 アイシン・エィ・ダブリュ株式会社 経路探索システム、経路探索方法及びコンピュータプログラム
EP2921363A1 (fr) * 2014-03-18 2015-09-23 Volvo Car Corporation Véhicule, système de véhicule et procédé pour augmenter la sécurité et/ou le confort pendant un entraînement autonome
US20150316387A1 (en) * 2014-04-30 2015-11-05 Toyota Motor Engineering & Manufacturing North America, Inc. Detailed map format for autonomous driving
US20150316386A1 (en) 2014-04-30 2015-11-05 Toyota Motor Engineering & Manufacturing North America, Inc. Detailed map format for autonomous driving
US9141109B1 (en) * 2014-05-06 2015-09-22 Toyota Motor Engineering & Manufacturing North America, Inc. Automated driving safety system
US9290174B1 (en) * 2014-10-23 2016-03-22 GM Global Technology Operations LLC Method and system for mitigating the effects of an impaired driver
CN107207013B (zh) * 2014-12-12 2020-01-21 索尼公司 自动驾驶控制设备以及自动驾驶控制方法和程序
WO2016139748A1 (fr) * 2015-03-03 2016-09-09 パイオニア株式会社 Dispositif de recherche d'itinéraire, procédé de commande, programme et support d'informations
JP6428493B2 (ja) * 2015-06-05 2018-11-28 株式会社デンソー 自動走行制御装置、自動走行用車載装置、自動走行制御方法
US9587952B1 (en) * 2015-09-09 2017-03-07 Allstate Insurance Company Altering autonomous or semi-autonomous vehicle operation based on route traversal values
JP6499047B2 (ja) * 2015-09-17 2019-04-10 株式会社東芝 計測装置、方法及びプログラム
JP6641916B2 (ja) * 2015-11-20 2020-02-05 オムロン株式会社 自動運転支援装置、自動運転支援システム、自動運転支援方法および自動運転支援プログラム
US10459087B2 (en) * 2016-04-26 2019-10-29 Uber Technologies, Inc. Road registration differential GPS
US20190162547A1 (en) * 2016-06-10 2019-05-30 Hitachi Automotive Systems, Ltd. Information Processing Device and Travel Control System
US20180087907A1 (en) * 2016-09-29 2018-03-29 The Charles Stark Draper Laboratory, Inc. Autonomous vehicle: vehicle localization
US10409280B2 (en) * 2017-03-21 2019-09-10 Baidu Usa Llc Control dominated planning and control system for autonomous driving vehicles
US10809719B2 (en) * 2017-08-29 2020-10-20 Uatc, Llc Systems and methods of controlling an autonomous vehicle using an enhanced trajectory following configuration
JP6870561B2 (ja) * 2017-10-10 2021-05-12 トヨタ自動車株式会社 配車装置及び配車方法

Also Published As

Publication number Publication date
US10520324B2 (en) 2019-12-31
CN107430817B (zh) 2021-07-13
CN107430817A (zh) 2017-12-01
EP3267421A4 (fr) 2018-11-14
WO2016139748A1 (fr) 2016-09-09
EP3267421A1 (fr) 2018-01-10
JPWO2016139748A1 (ja) 2017-12-28
US20180023966A1 (en) 2018-01-25
US20180038701A1 (en) 2018-02-08

Similar Documents

Publication Publication Date Title
JP6437629B2 (ja) 経路探索装置、制御方法、プログラム及び記憶媒体
WO2016139747A1 (fr) Dispositif de commande de véhicule, procédé de commande, programme, et support d'informations
JP2019039930A (ja) 経路探索装置、制御方法、プログラム及び記憶媒体
JP6654641B2 (ja) 自動運転制御装置および自動運転制御方法
US9836051B2 (en) Automated drive assisting device, automated drive assisting method, and program
CN113631454B (zh) 驾驶辅助方法及驾驶辅助装置
CN101652802B (zh) 安全驾驶支持装置
KR102402861B1 (ko) 운전 지원 방법 및 운전 지원 장치
EP2700032B1 (fr) Système global et intelligent pour gérer circulation et services d'urgence
US20170203770A1 (en) Automatic drive assist system, automatic drive assist method, and computer program
US20190333373A1 (en) Vehicle Behavior Prediction Method and Vehicle Behavior Prediction Apparatus
WO2016009600A1 (fr) Dispositif d'aide à la conduite
KR20190038675A (ko) 오클루전 제어 장치
JP2015152386A (ja) 運転支援装置、運転支援方法及びプログラム
WO2019064350A1 (fr) Procédé et appareil d'aide à la conduite
JP6221805B2 (ja) 運転支援装置、運転支援方法及びプログラム
JP2009031968A (ja) 交差点安全運転支援装置
US20160265923A1 (en) Navigation system
JPWO2017110002A1 (ja) 予測装置、予測システム、予測方法および予測プログラム
JP2009301132A (ja) 運転支援装置、運転支援方法及びプログラム
JP2006293615A (ja) 車両の追い越し支援装置
JP2018105967A (ja) 地図データ構造及び障害物判定装置
EP0349470A2 (fr) Système de guidage et d'information à distance pour les conducteurs et les piétons dans le trafic routier
JP2023052779A (ja) 経路探索装置、制御方法、プログラム及び記憶媒体
JP7395837B2 (ja) ナビゲーション装置、ナビゲーション方法、およびプログラム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170824

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170824

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180626

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180827

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20181016

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181114

R150 Certificate of patent or registration of utility model

Ref document number: 6437629

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313115

Free format text: JAPANESE INTERMEDIATE CODE: R313121

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250